Pith Number

pith:ZAWBJTNZ

pith:2015:ZAWBJTNZZL5L73UIAYGV77KA2M

not attested not anchored not stored refs pending

Invariant EKF Design for Scan Matching-aided Localization

Fran\c{c}ois Goulette, Jean-Emmanuel Deschaud, Martin Barczyk, Silv\`ere Bonnabel

arxiv:1503.01407 v1 · 2015-03-04 · cs.SY · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{ZAWBJTNZZL5L73UIAYGV77KA2M}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Cited by

1 paper in Pith

Constrained Stein Variational Gradient Descent for Robot Perception, Planning, and Identification

Receipt and verification

First computed	2026-05-18T02:25:34.610371Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

c82c14cdb9cafabfee88060d5ffd40d333cb4de58cbedb6300013013f7d2dff0

Aliases

arxiv: 1503.01407 · arxiv_version: 1503.01407v1 · doi: 10.48550/arxiv.1503.01407 · pith_short_12: ZAWBJTNZZL5L · pith_short_16: ZAWBJTNZZL5L73UI · pith_short_8: ZAWBJTNZ

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/ZAWBJTNZZL5L73UIAYGV77KA2M \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: c82c14cdb9cafabfee88060d5ffd40d333cb4de58cbedb6300013013f7d2dff0

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "fd257ef719b4b74db0b05241bd962079a6b49c2495e1919f00a83e97c2c9deca",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.SY",
    "submitted_at": "2015-03-04T18:25:04Z",
    "title_canon_sha256": "d44c7dd5278983d2bae318368442108d2a4c16a86bbdda0386b07fc691415ae3"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1503.01407",
    "kind": "arxiv",
    "version": 1
  }
}